version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 220
start: 4 14 119 0 43 29
data:
$ID,573
$MISSION,30
$DIVE,220
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,335
$T_MISSION,345
$T_ABORT,360
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,320
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,542.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.97279
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140419,002522,-3048.8323,3039.4724,39,0.8,40,-25.6,2.2,212.9,11,7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-64.3
$GPS2,140419,004304,-3049.7493,3039.0640,14,0.8,15,-25.7,1.9,199.3,11,8.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3041.477,3030.992
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,345.7,20000,-15.6,-9.950,-18.64,2991
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.82,-194.6,72,1972,597,584,0.0,0.0,0,116,0.00,0.00,-93.15,0.000,16386,0.000,0.000,72,1974,3141,3147,3135,0,0,0,0,0,0,14.89,28.83,14.90
$GC,120,-0.82,-194.6,71,1974,3147,3135,3.1,-6.9,17,150,12.95,2.55,-7.88,0.000,18692,0.312,0.086,2211,3415,3609,3673,3545,0,0,0,0,0,0,14.25,13.05,14.62
$GC,223,-0.82,-194.6,2210,3415,3676,3546,28.5,-16.4,36,230,0.05,2.35,0.00,0.000,3078,0.333,0.039,2220,2005,3611,3676,3546,0,0,0,0,0,0,14.45,14.69,14.66
$GC,293,-0.82,-194.6,2220,2005,3676,3546,39.8,-17.6,49,300,0.00,2.40,0.00,0.000,2564,0.000,0.067,2221,607,3610,3676,3545,0,0,0,0,0,0,14.97,14.47,14.97
$GC,322,-0.82,-194.6,2220,607,3676,3545,45.3,-19.4,54,329,0.00,2.35,0.00,0.000,3078,0.000,0.047,2220,2017,3610,3676,3545,0,0,0,0,0,0,14.81,14.68,14.82
$GC,391,-0.82,-194.6,2220,2017,3676,3545,55.1,-13.0,67,398,0.00,2.42,0.00,0.000,2308,0.000,0.073,2217,3410,3610,3676,3545,0,0,0,0,0,0,14.99,14.62,15.00
$GC,499,-0.82,-194.6,2216,3409,3676,3545,70.7,-13.6,88,506,0.00,2.33,0.00,0.000,3078,0.000,0.038,2217,2007,3610,3676,3545,0,0,0,0,0,0,14.66,14.56,14.69
$GC,569,-0.82,-194.6,2216,2007,3677,3545,78.8,-10.7,101,576,0.00,2.47,0.00,0.000,2308,0.000,0.070,2217,3413,3611,3677,3545,0,0,0,0,0,0,15.02,14.58,15.02
$GC,648,-0.82,-194.6,2216,3413,3677,3545,87.3,-9.5,116,655,0.00,2.33,0.00,0.000,3078,0.000,0.037,2217,2004,3611,3677,3545,0,0,0,0,0,0,14.71,14.62,14.72
$GC,719,-0.82,-194.6,2216,2002,3677,3545,93.7,-9.3,129,725,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2003,3611,3677,3545,0,0,0,0,0,0,15.03,15.03,15.03
$GC,788,-0.82,-194.6,2216,2003,3678,3545,100.3,-9.6,142,795,0.00,2.47,0.00,0.000,2308,0.000,0.070,2216,3419,3611,3678,3545,0,0,0,0,0,0,15.03,14.54,15.03
$GC,922,-0.82,-194.6,2216,3419,3678,3545,114.6,-10.7,168,928,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2014,3612,3679,3545,0,0,0,0,0,0,14.87,14.77,14.89
$GC,991,-0.82,-194.6,2216,2014,3678,3545,121.6,-10.6,181,998,0.00,2.40,0.00,0.000,2564,0.000,0.067,2216,612,3611,3678,3545,0,0,0,0,0,0,15.04,14.70,15.05
$GC,1020,-0.82,-194.6,2216,611,3678,3545,124.9,-10.1,186,1026,0.00,2.33,0.00,0.000,3078,0.000,0.045,2216,2014,3611,3678,3545,0,0,0,0,0,0,14.78,14.67,14.81
$GC,1091,-0.82,-194.6,2215,2014,3678,3545,132.1,-10.3,199,1098,0.00,2.42,0.00,0.000,2308,0.000,0.073,2216,3410,3611,3678,3545,0,0,0,0,0,0,15.07,14.68,15.07
$GC,1173,-0.82,-194.6,2216,3410,3678,3545,140.3,-9.9,214,1180,0.00,2.30,0.00,0.000,3078,0.000,0.037,2216,2012,3611,3678,3545,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1243,-0.82,-194.6,2216,2011,3678,3545,148.1,-10.4,227,1250,0.00,2.40,0.00,0.000,2564,0.000,0.069,2216,607,3611,3678,3545,0,0,0,0,0,0,15.04,14.55,15.05
$GC,1282,-0.82,-194.6,2216,607,3678,3545,152.1,-9.8,234,1289,0.00,2.33,0.00,0.000,3078,0.000,0.045,2216,2014,3610,3676,3545,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1353,-0.82,-194.6,2216,2014,3678,3544,158.3,-8.8,247,1359,0.00,2.42,0.00,0.000,2308,0.000,0.074,2216,3415,3611,3678,3544,0,0,0,0,0,0,15.04,14.68,15.05
$GC,1457,-0.82,-194.6,2216,3415,3678,3543,167.9,-9.1,267,1464,0.00,2.33,0.00,0.000,3078,0.000,0.037,2215,2007,3610,3678,3543,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1527,-0.82,-194.6,2215,2007,3678,3543,174.1,-9.7,280,1533,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2007,3610,3678,3543,0,0,0,0,0,0,15.06,15.07,15.06
$GC,1595,-0.82,-194.6,2215,2007,3678,3543,180.7,-10.1,293,1602,0.00,2.50,0.00,0.000,2308,0.000,0.073,2214,3415,3610,3677,3543,0,0,0,0,0,0,15.05,14.61,15.06
$GC,1660,-0.82,-194.6,2214,3415,3678,3543,187.0,-9.4,305,1666,0.00,2.35,0.00,0.000,3078,0.000,0.037,2214,2011,3609,3677,3542,0,0,0,0,0,0,14.78,14.65,14.80
$GC,1729,-0.82,-194.6,2214,2011,3677,3543,193.8,-9.8,318,1735,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2011,3609,3677,3542,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1797,-0.82,-194.6,2214,2011,3677,3542,201.0,-10.9,331,1804,0.00,2.47,0.00,0.000,2308,0.000,0.073,2214,3412,3609,3676,3542,0,0,0,0,0,0,15.08,14.69,15.08
$GC,1856,-0.82,-194.6,2221,3412,3677,3542,206.7,-10.1,342,1863,0.00,2.33,0.00,0.000,3078,0.000,0.039,2214,2010,3609,3677,3542,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1925,-0.82,-194.6,2214,2009,3676,3542,213.6,-10.2,355,1931,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2010,3610,3677,3543,0,0,0,0,0,0,15.07,15.06,15.07
$GC,1993,-0.82,-194.6,2214,2010,3676,3541,220.6,-10.2,368,1999,0.00,2.47,0.00,0.000,2308,0.000,0.073,2214,3409,3608,3676,3541,0,0,0,0,0,0,15.09,14.69,15.09
$GC,2042,-0.82,-194.6,2214,3409,3676,3541,225.5,-9.8,377,2049,0.00,2.33,0.00,0.000,3078,0.000,0.039,2214,2010,3608,3676,3541,0,0,0,0,0,0,14.89,14.78,14.91
$GC,2113,-0.82,-194.6,2211,2010,3675,3541,232.5,-9.6,390,2118,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2010,3608,3676,3540,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2180,-0.82,-194.6,2214,2010,3676,3541,239.3,-10.1,403,2187,0.00,2.50,0.00,0.000,2308,0.000,0.073,2214,3408,3607,3675,3540,0,0,0,0,0,0,15.09,14.68,15.09
$GC,2230,-0.82,-194.6,2214,3409,3674,3541,244.2,-9.8,412,2237,0.00,2.35,0.00,0.000,3078,0.000,0.039,2214,2014,3608,3675,3541,0,0,0,0,0,0,14.80,14.69,14.81
$GC,2300,-0.82,-194.6,2214,2013,3675,3540,251.2,-10.2,425,2306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2013,3607,3675,3540,0,0,0,0,0,0,15.10,15.10,15.10
$GC,2368,-0.82,-194.6,2213,2013,3674,3540,258.5,-10.4,438,2375,0.00,2.47,0.00,0.000,2308,0.000,0.073,2214,3409,3607,3674,3540,0,0,0,0,0,0,15.09,14.69,15.09
$GC,2411,-0.82,-194.6,2214,3409,3674,3539,262.8,-10.3,446,2418,0.00,2.35,0.00,0.000,3078,0.000,0.040,2214,2007,3606,3674,3539,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2481,-0.82,-194.6,2214,2007,3673,3538,269.7,-10.2,459,2490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2007,3606,3674,3538,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2552,-0.82,-194.6,2214,2007,3673,3538,277.1,-10.3,472,2559,0.00,2.50,0.00,0.000,2308,0.000,0.074,2214,3409,3605,3673,3538,0,0,0,0,0,0,15.11,14.67,15.09
$GC,2596,-0.82,-194.6,2214,3409,3672,3538,281.6,-10.0,480,2603,0.00,2.33,0.00,0.000,3078,0.000,0.040,2214,2013,3605,3673,3538,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2667,-0.82,-194.6,2213,2012,3670,3537,288.5,-10.3,493,2673,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2012,3604,3672,3537,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2735,-0.82,-194.6,2214,2012,3671,3537,295.8,-10.3,506,2742,0.00,2.47,0.00,0.000,2308,0.000,0.074,2214,3408,3603,3670,3537,0,0,0,0,0,0,15.08,14.67,15.08
$GC,2780,-0.82,-194.6,2214,3407,3671,3537,300.2,-10.0,514,2785,0.00,2.35,0.00,0.000,3078,0.000,0.040,2214,2008,3604,3671,3537,0,0,0,0,0,0,14.81,14.69,14.83
$GC,2922,-0.82,-194.6,2213,2006,3670,3536,315.2,-10.7,521,2927,0.00,2.47,0.00,0.000,2308,0.000,0.075,2214,3409,3603,3671,3536,0,0,0,0,0,0,15.11,14.69,15.12
$GC,2979,-0.82,-194.6,2214,3409,3669,3535,319.7,-10.7,523,2986,0.00,2.33,0.00,0.000,3078,0.000,0.041,2214,2009,3602,3670,3535,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3105,-0.82,-194.6,2214,2009,3669,3535,334.8,-10.9,530,3110,0.00,2.50,0.00,0.000,2308,0.000,0.075,2214,3411,3601,3668,3534,0,0,0,0,0,0,15.13,14.69,15.13
$GC,3151,-0.82,-194.6,2214,3410,3668,3534,339.5,-11.0,532,3157,0.00,2.33,0.00,0.000,3078,0.000,0.041,2214,2013,3601,3668,3534,0,0,0,0,0,0,14.91,14.80,14.93
$GC,3289,-0.82,-194.6,2214,2012,3668,3533,354.4,-10.7,539,3294,0.00,2.50,0.00,0.000,2308,0.000,0.075,2214,3409,3600,3667,3533,0,0,0,0,0,0,15.15,14.49,15.15
$GC,3331,-0.82,-194.6,2213,3409,3667,3534,358.8,-10.4,541,3336,0.00,2.35,0.00,0.000,3078,0.000,0.041,2214,2004,3599,3667,3532,0,0,0,0,0,0,14.92,14.80,14.93
$GC,3474,-0.82,-194.6,2213,2003,3667,3532,373.1,-9.9,548,3475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2003,3599,3667,3532,0,0,0,0,0,0,15.14,15.15,15.15
$GC,3594,-0.82,-194.6,2213,2003,3666,3529,385.2,-10.0,554,3599,0.00,2.53,0.00,0.000,2308,0.000,0.076,2213,3415,3598,3666,3531,0,0,0,0,0,0,15.14,14.69,15.14
$GC,3667,-0.82,-194.6,2213,3415,3666,3531,391.2,-9.7,557,3672,0.00,2.35,0.00,0.000,3078,0.000,0.042,2213,2005,3598,3665,3531,0,0,0,0,0,0,14.93,14.81,14.95
$GC,3800,-0.82,-194.6,2213,2005,3665,3530,405.2,-9.7,564,3805,0.00,2.53,0.00,0.000,2308,0.000,0.076,2213,3408,3597,3665,3530,0,0,0,0,0,0,15.14,14.59,15.15
$GC,3852,-0.82,-194.6,2214,3407,3664,3530,409.3,-9.5,566,3857,0.00,2.33,0.00,0.000,3078,0.000,0.041,2214,2014,3597,3664,3530,0,0,0,0,0,0,14.92,14.80,14.94
$GC,3984,-0.82,-194.6,2213,2013,3664,3529,423.2,-10.0,573,3989,0.00,2.50,0.00,0.000,2308,0.000,0.078,2211,3415,3596,3663,3529,0,0,0,0,0,0,15.15,14.69,15.15
$GC,4036,-0.82,-194.6,2211,3418,3663,3529,427.5,-10.1,575,4042,0.05,2.35,0.00,0.000,3078,0.318,0.042,2222,2006,3596,3663,3529,0,0,0,0,0,0,14.57,14.80,14.77
$GC,4171,-0.82,-194.6,2221,2005,3662,3528,440.7,-9.3,582,4176,0.00,2.50,0.00,0.000,2308,0.000,0.077,2221,3407,3595,3662,3528,0,0,0,0,0,0,15.14,14.69,15.14
$GC,4214,-0.82,-194.6,2221,3408,3661,3528,445.0,-9.6,584,4219,0.00,2.35,0.00,0.000,3078,0.000,0.042,2222,2008,3594,3661,3528,0,0,0,0,0,0,14.91,14.78,14.93
$GC,4357,-0.82,-194.6,2221,2008,3661,3527,458.4,-9.5,591,4362,0.00,2.50,0.00,0.000,2308,0.000,0.076,2221,3408,3594,3661,3527,0,0,0,0,0,0,15.15,14.68,15.15
$GC,4400,-0.82,-194.6,2221,3408,3661,3526,462.4,-9.4,593,4405,0.00,2.38,0.00,0.000,3078,0.000,0.042,2221,2007,3594,3661,3527,0,0,0,0,0,0,14.81,14.68,14.83
$GC,4543,-0.82,-194.6,2221,2006,3661,3526,475.7,-9.3,600,4548,0.00,2.50,0.00,0.000,2308,0.000,0.077,2221,3408,3593,3660,3526,0,0,0,0,0,0,15.14,14.67,15.14
$GC,4586,-0.82,-194.6,2221,3408,3660,3526,479.6,-9.2,602,4591,0.00,2.35,0.00,0.000,3078,0.000,0.043,2221,2011,3593,3660,3526,0,0,0,0,0,0,14.91,14.78,14.92
$GC,4729,-0.82,-194.6,2221,2011,3659,3525,493.0,-9.4,609,4734,0.00,2.53,0.00,0.000,2308,0.000,0.077,2221,3414,3592,3659,3525,0,0,0,0,0,0,15.14,14.43,15.15
$GC,4796,-0.82,-194.6,2221,3414,3658,3525,498.8,-9.2,612,4801,0.00,2.38,0.00,0.000,3078,0.000,0.043,2221,1998,3591,3659,3524,0,0,0,0,0,0,14.90,14.75,14.92
$GC,4934,-0.82,-194.6,2221,1998,3658,3524,512.5,-9.6,619,4939,0.00,2.53,0.00,0.000,2308,0.000,0.077,2221,3407,3591,3658,3524,0,0,0,0,0,0,15.15,14.66,15.15
$GC,4980,-0.82,-194.6,2220,3407,3657,3524,516.5,-9.4,621,4986,0.00,2.35,0.00,0.000,3078,0.000,0.043,2221,2006,3590,3657,3524,0,0,0,0,0,0,14.90,14.76,14.92
$GC,5119,-0.82,-194.6,2220,2005,3657,3522,530.2,-9.7,628,5124,0.00,2.53,0.00,0.000,2308,0.000,0.078,2221,3407,3589,3657,3522,0,0,0,0,0,0,15.14,14.47,15.14
$GC,5156,-0.82,-194.6,2221,3407,3656,3522,532.5,-9.8,629,5163,0.00,2.33,0.00,0.000,3078,0.000,0.044,2221,2011,3589,3657,3522,0,0,0,0,0,0,14.90,14.76,14.91
$GC,5282,-0.82,-194.6,2221,2011,3656,3522,545.8,-9.6,636,5283,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2011,3589,3656,3522,0,0,0,0,0,0,15.14,15.14,15.14
$GC,5402,-0.82,-194.6,2221,2011,3656,3522,557.4,-9.7,642,5407,0.00,2.50,0.00,0.000,2308,0.000,0.078,2221,3408,3588,3655,3522,0,0,0,0,0,0,15.14,14.64,15.14
$GC,5465,-0.82,-194.6,2220,3408,3655,3521,563.3,-9.4,645,5470,0.00,2.35,0.00,0.000,3078,0.000,0.044,2221,2008,3588,3655,3521,0,0,0,0,0,0,14.91,14.78,14.92
$GC,5608,-0.82,-194.6,2220,2008,3655,3521,577.1,-9.5,652,5613,0.00,2.53,0.00,0.000,2308,0.000,0.080,2221,3413,3587,3654,3521,0,0,0,0,0,0,15.13,14.62,15.14
$GC,5645,-0.82,-194.6,2220,3413,3654,3521,579.1,-9.4,653,5652,0.00,2.35,0.00,0.000,3078,0.000,0.044,2220,2009,3586,3653,3520,0,0,0,0,0,0,14.88,14.75,14.90
$GC,5771,-0.82,-194.6,2220,2009,3653,3519,592.2,-9.7,660,5776,0.00,2.53,0.00,0.000,2308,0.000,0.079,2221,3407,3586,3653,3519,0,0,0,0,0,0,15.14,14.63,15.14
$GC,5823,-0.82,-194.6,2220,3406,3652,3519,596.4,-9.6,662,5828,0.00,2.35,0.00,0.000,3078,0.000,0.044,2221,2011,3585,3652,3519,0,0,0,0,0,0,14.88,14.75,14.90
$GC,5958,-0.82,-194.6,2220,2011,3652,3518,610.0,-9.8,669,5963,0.00,2.50,0.00,0.000,2308,0.000,0.079,2221,3408,3585,3652,3518,0,0,0,0,0,0,15.14,14.64,15.14
$GC,6001,-0.82,-194.6,2220,3408,3651,3518,614.3,-9.8,671,6006,0.00,2.35,0.00,0.000,3078,0.000,0.044,2221,2011,3584,3651,3518,0,0,0,0,0,0,14.88,14.74,14.90
$GC,6144,-0.82,-194.6,2220,2011,3652,3518,627.5,-9.2,678,6145,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2011,3584,3651,3517,0,0,0,0,0,0,15.11,15.12,15.13
$GC,6264,-0.82,-194.6,2220,2011,3650,3518,638.2,-8.8,684,6269,0.00,2.53,0.00,0.000,2308,0.000,0.080,2217,3413,3584,3650,3518,0,0,0,0,0,0,15.12,14.61,15.12
$GC,6321,-0.82,-194.6,2218,3413,3650,3517,641.9,-8.7,686,6328,0.00,2.40,0.00,0.000,3078,0.000,0.044,2219,2005,3583,3649,3517,0,0,0,0,0,0,14.86,14.72,14.88
$GC,6447,-0.82,-194.6,2218,2006,3650,3517,654.1,-8.7,693,6448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,2006,3583,3650,3517,0,0,0,0,0,0,15.12,15.12,15.10
$GC,6567,-0.82,-194.6,2218,2005,3649,3515,664.8,-9.1,699,6572,0.00,2.53,0.00,0.000,2308,0.000,0.080,2218,3408,3583,3649,3517,0,0,0,0,0,0,15.14,14.62,15.14
$GC,6644,-0.82,-194.6,2218,3408,3648,3516,670.2,-8.9,702,6651,0.00,2.38,0.00,0.000,3078,0.000,0.045,2218,2008,3582,3648,3516,0,0,0,0,0,0,14.85,14.71,14.88
$GC,6770,-0.82,-194.6,2217,2007,3647,3516,682.7,-8.8,709,6771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2007,3581,3647,3516,0,0,0,0,0,0,15.13,15.14,15.14
$STATE,6852,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6852,begin apogee
$GC,6857,-0.19,0.0,2217,1960,3647,3516,690.4,-9.6,713,7029,1.08,0.00,163.12,1.893,10246,0.168,0.000,2424,1959,2811,2864,2759,0,0,0,0,0,0,14.45,14.15,13.24
$STATE,7031,end apogee,CONTROL_FINISHED_OK
$STATE,7032,begin climb
$GC,7034,0.82,194.6,2424,1959,2863,2759,698.0,0.0,722,7215,1.52,2.58,169.68,1.851,10756,0.111,0.085,2736,561,2017,2074,1961,0,0,0,0,0,0,14.18,14.07,13.23
$GC,7233,0.90,258.9,2735,561,2069,1960,689.5,7.7,732,7298,0.10,2.45,58.47,1.792,11270,0.164,0.048,2768,1965,1755,1813,1698,0,0,0,0,0,0,14.23,14.26,13.24
$GC,7435,0.90,258.9,2767,1965,1805,1692,665.6,12.2,742,7440,0.00,2.47,0.00,0.000,2308,0.000,0.076,2768,3362,1748,1804,1692,0,0,0,0,0,0,14.79,14.50,14.79
$GC,7452,0.90,258.9,2768,3363,1803,1691,665.6,12.2,742,7458,0.00,2.40,0.00,0.000,3078,0.000,0.054,2769,1970,1747,1803,1691,0,0,0,0,0,0,14.66,14.53,14.67
$GC,7578,0.90,258.9,2769,1970,1802,1690,648.3,12.3,749,7579,0.00,0.00,0.00,0.000,2054,0.000,0.000,2769,1970,1745,1800,1691,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7698,0.90,258.9,2769,1970,1801,1690,634.1,12.3,755,7703,0.00,2.53,0.00,0.000,2564,0.000,0.091,2770,556,1745,1801,1690,0,0,0,0,0,0,14.97,14.63,14.97
$GC,7709,0.90,258.9,2769,555,1801,1690,634.1,12.3,755,7714,0.00,2.38,0.00,0.000,3078,0.000,0.048,2770,1959,1745,1801,1690,0,0,0,0,0,0,14.81,14.69,14.83
$GC,7842,0.90,258.9,2769,1959,1800,1690,614.9,13.6,762,7843,0.00,0.00,0.00,0.000,2054,0.000,0.000,2769,1959,1743,1800,1687,0,0,0,0,0,0,15.00,15.01,15.01
$GC,7961,0.90,258.9,2769,1959,1799,1688,599.7,12.4,768,7963,0.00,0.00,0.00,0.000,2054,0.000,0.000,2769,1959,1743,1798,1689,0,0,0,0,0,0,15.03,15.04,15.04
$GC,8081,0.90,258.9,2769,1960,1798,1689,583.8,13.2,774,8087,0.00,2.50,0.00,0.000,2308,0.000,0.076,2770,3378,1743,1798,1689,0,0,0,0,0,0,15.05,14.67,15.05
$GC,8104,0.90,258.9,2769,3378,1798,1689,580.8,13.1,775,8109,0.00,2.42,0.00,0.000,3078,0.000,0.054,2770,1961,1743,1798,1688,0,0,0,0,0,0,14.86,14.71,14.88
$GC,8247,0.90,258.9,2770,1961,1806,1688,562.7,12.3,782,8248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2770,1961,1742,1797,1688,0,0,0,0,0,0,15.07,15.07,15.07
$GC,8367,0.90,258.9,2770,1961,1797,1688,547.8,12.4,788,8372,0.00,2.50,0.00,0.000,2564,0.000,0.091,2773,553,1742,1797,1688,0,0,0,0,0,0,15.08,14.64,15.10
$GC,8393,0.90,258.9,2773,553,1796,1688,544.8,12.5,789,8398,0.00,2.38,0.00,0.000,1030,0.000,0.050,2772,1978,1741,1795,1688,0,0,0,0,0,0,14.86,14.74,14.90
$GC,8531,0.90,258.9,2773,1978,1796,1688,527.1,12.5,796,8532,0.00,0.00,0.00,0.000,2054,0.000,0.000,2773,1978,1742,1796,1688,0,0,0,0,0,0,15.09,15.09,15.09
$GC,8651,0.90,258.9,2773,1978,1795,1687,512.0,12.6,802,8656,0.00,2.40,0.00,0.000,2308,0.000,0.075,2773,3355,1741,1795,1687,0,0,0,0,0,0,15.09,14.66,15.09
$GC,8677,0.90,258.9,2772,3354,1795,1687,508.9,12.8,803,8682,0.00,2.38,0.00,0.000,1030,0.000,0.054,2775,1964,1741,1795,1687,0,0,0,0,0,0,14.85,14.72,14.89
$GC,8815,0.90,258.9,2776,1964,1795,1687,490.2,13.2,810,8820,0.00,2.45,0.00,0.000,260,0.000,0.074,2776,3356,1741,1795,1687,0,0,0,0,0,0,15.09,14.68,15.10
$GC,8831,0.90,258.9,2776,3356,1795,1687,490.2,13.2,810,8838,0.00,2.38,0.00,0.000,1030,0.000,0.053,2776,1958,1740,1794,1687,0,0,0,0,0,0,14.86,14.71,14.90
$GC,8957,0.90,258.9,2776,1958,1795,1687,471.1,13.3,817,8962,0.00,2.47,0.00,0.000,516,0.000,0.091,2777,560,1741,1795,1687,0,0,0,0,0,0,15.09,14.63,15.09
$GC,8968,0.90,258.9,2776,560,1795,1687,471.1,13.3,817,8973,0.00,2.35,0.00,0.000,1030,0.000,0.049,2777,1969,1741,1795,1687,0,0,0,0,0,0,14.86,14.73,14.90
$GC,9101,0.90,258.9,2776,1969,1795,1686,452.8,12.6,824,9106,0.00,2.42,0.00,0.000,260,0.000,0.075,2776,3361,1741,1795,1687,0,0,0,0,0,0,15.09,14.65,15.09
$GC,9143,0.90,258.9,2776,3362,1795,1687,446.9,12.9,826,9148,0.00,2.40,0.00,0.000,1030,0.000,0.054,2777,1956,1739,1791,1687,0,0,0,0,0,0,14.85,14.70,14.88
$GC,9286,0.90,258.9,2776,1956,1795,1687,428.7,12.6,833,9291,0.00,2.47,0.00,0.000,516,0.000,0.091,2776,561,1741,1795,1687,0,0,0,0,0,0,15.11,14.61,15.12
$GC,9303,0.90,258.9,2776,560,1795,1687,428.7,12.6,833,9310,0.00,2.35,0.00,0.000,1030,0.000,0.049,2777,1965,1740,1795,1686,0,0,0,0,0,0,14.85,14.73,14.88
$GC,9428,0.90,258.9,2776,1965,1794,1687,411.5,12.1,840,9433,0.00,2.45,0.00,0.000,260,0.000,0.075,2777,3366,1741,1795,1687,0,0,0,0,0,0,15.10,14.66,15.11
$GC,9454,0.90,258.9,2776,3366,1795,1687,408.5,12.4,841,9460,0.00,2.42,0.00,0.000,1030,0.000,0.053,2777,1960,1740,1794,1687,0,0,0,0,0,0,14.84,14.69,14.88
$GC,9592,0.90,258.9,2777,1959,1795,1687,390.3,12.8,848,9597,0.00,2.47,0.00,0.000,516,0.000,0.090,2778,560,1740,1795,1685,0,0,0,0,0,0,15.11,14.62,15.12
$GC,9614,0.90,258.9,2777,560,1795,1686,387.5,12.9,849,9620,0.00,2.35,0.00,0.000,1030,0.000,0.050,2778,1964,1741,1795,1687,0,0,0,0,0,0,14.87,14.75,14.90
$GC,9757,0.90,258.9,2777,1964,1794,1686,370.0,12.3,856,9762,0.00,2.45,0.00,0.000,260,0.000,0.075,2778,3360,1740,1794,1686,0,0,0,0,0,0,15.08,14.64,15.09
$GC,9794,0.90,258.9,2778,3360,1794,1686,367.0,12.6,857,9800,0.00,2.40,0.00,0.000,1030,0.000,0.054,2780,1956,1739,1793,1686,0,0,0,0,0,0,14.83,14.69,14.86
$GC,9920,0.90,258.9,2779,1956,1794,1686,349.0,12.8,864,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1956,1740,1794,1686,0,0,0,0,0,0,15.10,15.11,15.11
$GC,10040,0.90,258.9,2779,1956,1795,1686,334.0,12.4,870,10045,0.00,2.47,0.00,0.000,516,0.000,0.090,2780,561,1740,1794,1687,0,0,0,0,0,0,15.11,14.60,15.12
$GC,10057,0.90,258.9,2779,560,1794,1686,334.0,12.4,870,10064,0.00,2.35,0.00,0.000,1030,0.000,0.049,2780,1971,1740,1794,1686,0,0,0,0,0,0,14.84,14.72,14.88
$GC,10182,0.90,258.9,2779,1971,1794,1686,316.1,12.6,877,10188,0.00,2.42,0.00,0.000,260,0.000,0.074,2780,3362,1740,1794,1686,0,0,0,0,0,0,15.11,14.64,15.11
$GC,10215,0.90,258.9,2779,3362,1794,1686,313.2,12.8,878,10220,0.00,2.38,0.00,0.000,1030,0.000,0.053,2780,1963,1740,1794,1686,0,0,0,0,0,0,14.84,14.70,14.88
$GC,10342,0.90,258.9,2780,1963,1794,1686,296.2,12.1,887,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1963,1740,1794,1686,0,0,0,0,0,0,15.09,15.10,15.10
$GC,10410,0.90,258.9,2779,1963,1794,1686,288.2,12.0,900,10417,0.00,2.50,0.00,0.000,516,0.000,0.090,2780,561,1740,1794,1686,0,0,0,0,0,0,15.08,14.57,15.09
$GC,10429,0.90,258.9,2780,560,1794,1686,286.2,11.5,903,10435,0.00,2.35,0.00,0.000,1030,0.000,0.049,2780,1964,1739,1793,1686,0,0,0,0,0,0,14.83,14.71,14.87
$GC,10499,0.90,258.9,2779,1963,1794,1686,277.7,11.8,916,10505,0.00,2.42,0.00,0.000,4356,0.000,0.074,2780,3356,1740,1794,1686,0,0,0,0,0,0,15.06,14.61,15.07
$GC,10517,0.90,258.9,2780,3356,1794,1686,275.3,12.3,919,10524,0.00,2.38,0.00,0.000,1030,0.000,0.052,2780,1963,1740,1794,1686,0,0,0,0,0,0,14.81,14.66,14.84
$GC,10587,0.90,258.9,2779,1963,1794,1686,267.1,11.5,932,10594,0.00,2.50,0.00,0.000,516,0.000,0.089,2780,558,1740,1794,1686,0,0,0,0,0,0,15.04,14.56,15.05
$GC,10601,0.90,258.9,2779,558,1792,1686,265.6,11.3,934,10607,0.00,2.35,0.00,0.000,1030,0.000,0.047,2780,1964,1739,1793,1686,0,0,0,0,0,0,14.59,14.50,14.61
$GC,10670,0.90,258.9,2780,1964,1794,1686,257.5,12.0,947,10677,0.00,2.45,0.00,0.000,260,0.000,0.074,2780,3356,1740,1794,1686,0,0,0,0,0,0,15.04,14.40,15.05
$GC,10699,0.90,258.9,2780,3356,1794,1686,253.8,11.8,952,10706,0.00,2.38,0.00,0.000,5126,0.000,0.051,2783,1963,1740,1794,1686,0,0,0,0,0,0,14.81,14.65,14.85
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$GC,11722,0.90,258.9,2783,561,1794,1686,127.2,11.1,1142,11729,0.00,2.38,0.00,0.000,5126,0.000,0.047,2784,1965,1739,1794,1685,0,0,0,0,0,0,14.73,14.54,14.77
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$GC,11978,0.90,258.9,2784,556,1794,1686,96.5,12.3,1189,11985,0.00,2.38,0.00,0.000,5126,0.000,0.047,2785,1967,1740,1794,1686,0,0,0,0,0,0,14.76,14.62,14.78
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$STATE,12900,end climb,SURFACE_DEPTH_REACHED
$STATE,12900,begin surface coast
$FINISH,2.1,1.023361
$STATE,12906,end surface coast,CONTROL_FINISHED_OK
$STATE,12906,begin surface
$SM_CCo,12930,44.45,0.776,0,0,600,542.59
$SM_GC,0.29,13.18,2.35,44.45,0.081,0.046,0.776,144,2008,600,-7.27,0.76,542.59,0,0,0,0,0,0,14.62,14.59,13.90
$IRIDIUM_FIX,-3037.47,3041.04,140419,003038
$TT8_MAMPS,0.019474,0.896553
$HUMID,58.19
$INTERNAL_PRESSURE,9.14062
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,690.4,7.2
$SC_FREEKB,3808960
$24V_AH,13.05,141.243
$10V_AH,12.41,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.050,324.800,560.250,44.450,0.000,48.082,59.871,552.282,16.000,0.000,16.300,3496.451,5704.235,1060.173,3384.454,374.993,0.000,2556.470,0.000,2434.741,0.000,101.724,0.000
$DEVICE_MAMPS,332.775,298.350,1893.375,775.710,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13040.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.755,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,46643,1358
$CAP_FILE_SIZE,324424,0
$CFSIZE,1023623168,991199232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140419,042102,-3050.826,3037.221,25,0.9,40,-25.7,1.7,193.3,11,6.6